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Add mj_fwdKinematics and a table improving documentation of the MuJoCo computation pipeline structure.

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PiperOrigin-RevId: 838768130
Change-Id: I1a22d5cdca7db704ba4cea1667fcbecb16b87005
This commit is contained in:
Yuval Tassa
2025-12-01 07:38:12 -08:00
committed by Copybara-Service
parent 4c40d5938e
commit 19e2d0ae2f
11 changed files with 89 additions and 14 deletions
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unity/Runtime/Bindings/MjBindings.cs
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@@ -6522,6 +6522,9 @@ public static unsafe extern void mj_printScene(mjvScene_* s, [MarshalAs(Unmanage
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_printFormattedScene(mjvScene_* s, [MarshalAs(UnmanagedType.LPStr)]string filename, [MarshalAs(UnmanagedType.LPStr)]string float_format);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_fwdKinematics(mjModel_* m, mjData_* d);
[DllImport("mujoco", CallingConvention = CallingConvention.Cdecl)]
public static unsafe extern void mj_fwdPosition(mjModel_* m, mjData_* d);